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Real-Time 3D Reconstruction for Collision Avoidance in Interventional Environments [chapter]

Alexander Ladikos, Selim Benhimane, Nassir Navab
2008 Lecture Notes in Computer Science  
In this paper, we present a real-time 3D reconstruction system for interventional environments which aims at predicting collisions by building a 3D representation of all the objects in the room.  ...  has become an issue of practical value in interventional environments.  ...  Klaus Klingenbeck-Regn for their support. The concepts and information presented in this paper are based on research and are not commercially available.  ... 
doi:10.1007/978-3-540-85990-1_63 fatcat:7idfihme7bdbzd75h26nn4w4cq

Augmented reality for port placement and navigation in robotically assisted minimally invasive cardiovascular surgery

J Traub, M Feuerstein, M Bauer, E.U Schirmbeck, H Najafi, R Bauernschmitt, G Klinker
2004 Excerpta Medica: International Congress Series  
Collision detection techniques are expected to allow for avoidance of consecutive new port placement by detecting intersections of instruments among each other and with the patient's anatomy.  ...  A significant reduction of operation time may be obtained by a precise and collision-free planning and placement of teleoperator arms.  ...  GmbH by providing a tracking system for the demonstration.  ... 
doi:10.1016/j.ics.2004.03.049 fatcat:rii6opa525gcxgaeqodbsn6kgm

Toward a virtual environment for biomechanical simulation

Peter Zerfass, Erwin Keeve, Seong K. Mun
2001 Medical Imaging 2001: Visualization, Display, and Image-Guided Procedures  
To avoid interpenetration of the virtual objects fast collision detection has been implemented. The kinematics are controlled by a special haptic interface which provides force feedback to the user.  ...  for interactive biomechanical simulation and surgical planning.  ...  MATERIAL AND METHODS Our virtual environment for biomechanical simulation must solve a number of tasks including; image pre-processing, 3D modeling and real-time visualization; haptic representation of  ... 
doi:10.1117/12.428087 dblp:conf/miigp/ZerfassK01 fatcat:5ilj7ky4ajbcnedpnsukv6ozj4

The CAMP Lab - Computer Aided Medical Procedures and Augmented Reality

Stefanie Demirci, Nassir Navab
2011 Journal of Interactive Systems  
In this short paper, we give an outline of the history of the lab and present a summary of some of our past and current activities relevant to computer assisted interventions and computer vision.  ...  References to published work in major journals and conferences allow the reader to get access to more detailed information on each subject.  ...  Using the images acquired by the cameras we perform a 3D-reconstruction. We designed the system with two goals in mind: real-time performance and ease of use in interventional environments.  ... 
doi:10.5753/jis.2011.573 fatcat:57ib3o5stvb4roh6lm5zqdrvpi

Performance evaluation method for mobile computer vision systems using augmented reality

Jonas Nilsson, Anders C. E. Odblom, Jonas Fredriksson, Adeel Zafar, Fahim Ahmed
2010 2010 IEEE Virtual Reality Conference (VR)  
The method has been implemented and tested on a pedestrian detection system used for automotive collision avoidance.  ...  The proposed novel framework exploits the possibility to add virtual agents into a real data sequence collected in an unknown environment, thus making it possible to efficiently create augmented data sequences  ...  Furthermore, the authors wish to thank Gunnar Bergström and Henrik Moren at XDIN, Göteborg, Sweden, for initial discussions on augmented reality techniques, and Robert Jacobson at VCC for 3ds Max support  ... 
doi:10.1109/vr.2010.5444821 dblp:conf/vr/NilssonOFZA10 fatcat:2p5lyglccjdovabryq3wjsay5u

Virtual Planning of Needle Guidance for a Parallel Robot Used in Brachytherapy [chapter]

B. Gherman, T. Girbacia, D. Cocorean, C. Vaida, S. Butnariu, N. Plitea, D. Talaba, D. Pisla
2015 Mechanisms and Machine Science  
Scope The paper aims to develop an accurate virtual planning of the needles trajectory for an innovative parallel robot used for general brachytherapy.  ...  Using brachytherapy to treat the tumours situated in the thoracic or abdominal areas prove to be a difficult task, as inserting the needles might cause damage to the internal organs and/or fail to reach  ...  , achieving in the same time its final orientation of the needle, after which it will drive the needle to the target point, in the tumour along a linear path, avoiding the collisions.  ... 
doi:10.1007/978-3-319-23832-6_9 fatcat:jsxxf4hhprgujgsxv5f7kqfy7q

Design of collision detection algorithms and force feedback for a virtual reality training intervention operation system

Jiangchao Li, Baofeng Gao, Shuxiang Guo
2015 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
Then we develop a fast collision detection algorithm based on AABB bounding box (Axis Aligned) method. In this way, we can reduce the collision detection time, training in real time.  ...  In previous studies, we have developed a virtual reality training system. Based on CT image reconstruction of 3-d vessel model, we designed a 3 d model of the catheter.  ...  Potential collision cells In our previous research, we have reconstructed the 3D vessel model by CT images of a patient as shown in Fig. 4 .  ... 
doi:10.1109/robio.2015.7419010 dblp:conf/robio/LiGG15 fatcat:3btnsxxvp5dr7h4pr64e6s2m5e

Planning and Simulation of Robotically Assisted Minimal Invasive Surgery [chapter]

Louaï Adhami, Ève Coste-Manière, Jean-Daniel Boissonnat
2000 Lecture Notes in Computer Science  
Finally we simulate the intervention in real-time, paying particular attention to potential collisions between the robotic arms.  ...  The design of an integrated system is presented for cardiovascular interventions. The approach consists of a planning, validation and simulation phase.  ...  Didier Loulmet from the Hôpital Broussais in Paris. We would also like to acknowledge the Intuitive Surgical Inc. team, especially Dr. Kenneth Salisbury and Dr. Gary Guthart.  ... 
doi:10.1007/978-3-540-40899-4_64 fatcat:4vun33r6xvhrhjidm3brkjpdni

Model Guided Multimodal Imaging and Visualization for Computer Assisted Interventions

Nassir Navab
2011 IAPR International Workshop on Machine Vision Applications  
In this short paper, we 1 try to present a summary of some of our activities relevant to computer assisted interventions and computer vision.  ...  References to published work in major journals and conferences allow the reader to get access to more detailed information on each subject.  ...  Using the images acquired by the cameras we perform a 3D-reconstruction. We designed the system with two goals in mind: real-time performance and ease of use in interventional environments.  ... 
dblp:conf/mva/Navab11 fatcat:mwayyz5jlfhefmlx2s2d7if5yi

Real-Time 3D Reconstruction for Occlusion-Aware Interactions in Mixed Reality [chapter]

Alexander Ladikos, Nassir Navab
2009 Lecture Notes in Computer Science  
In this paper, we present a system for performing real-time occlusion-aware interactions in a mixed reality environment.  ...  In addition, since we reconstruct the shape of every object, the users can use their entire body to interact with the virtual objects.  ...  Conclusion We presented a real-time 3D reconstruction system for occlusion-aware interactions in mixed reality environments.  ... 
doi:10.1007/978-3-642-10331-5_45 fatcat:fuk2aoqiwzg4vk4235osuu6ie4

Collision Detection and Avoidance for Underwater Vehicles Using Omnidirectional Vision

Eduardo Ochoa, Nuno Gracias, Klemen Istenič, Josep Bosch, Patryk Cieślak, Rafael García
2022 Sensors  
In this paper, we present a novel approach that provides an ROV with capabilities for navigation in complex environments.  ...  Common applications for obstacle avoidance in underwater environments are often conducted with acoustic sensors, which cannot be used reliably at very short distances, thus requiring a high level of attention  ...  Data Availability Statement: No new data were created or analyzed in this study. Data sharing is not applicable to this article. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s22145354 pmid:35891038 pmcid:PMC9315794 fatcat:v64lhwgd7bbqri3gucl6b5khqe

3D Reconstruction and Augmented Reality in Bronchoscopic Intervention [article]

Alessandro Torrisi, Salvatore Livatino, Giovanni Gallo
2011 Smart Tools and Applications in Graphics  
This paper proposes to exploit the stereo-camera setup available in stereo-viewing systems for 3D reconstruction. We focus on medical endoscopic applications.  ...  We reconstructed depth maps of a bronchus environment and used them to generate augmented reality views of the observed scenes.  ...  In this contribution we intend to exploit the stereo-camera setup available in stereo-viewing systems for 3D reconstruction.  ... 
doi:10.2312/localchapterevents/italchap/italianchapconf2011/009-013 dblp:conf/egItaly/TorrisiLG11 fatcat:vulnu7nlube5jebe74pdgclz4i

An RGB-D based Augmented Reality 3D Reconstruction System for Robotic Environmental Inspection of Radioactive Areas

Giacomo Lunghi, Raul Marin Prades, Mario Di Castro, Manuel Ferre, Alessandro Masi
2017 Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics  
In this paper we present a robotic system for collecting physical quantities, precisely positioned in the environment, which is easy to use by the robot operator and it is seamlessly integrated in the  ...  Preparing human intervention in hazardous, unknown and unstructured environments is a difficult task.  ...  In future, this system could be integrated with an anti-collision system which creates in real-time an occupancy grid map of the environment using the data collected with the RGB-D cameras.  ... 
doi:10.5220/0006395802330238 dblp:conf/icinco/LunghiPCFM17 fatcat:7odq7hprmngg7fxfjj2tghdvcm

Interactive training system for interventional electrocardiology procedures

Hugo Talbot, Federico Spadoni, Christian Duriez, Maxime Sermesant, Mark O'Neill, Pierre Jaïs, Stéphane Cotin, Hervé Delingette
2017 Medical Image Analysis  
With this method, we reach computational performances that account for user interactions in real-time.  ...  The skills required for such interventions are very challenging to learn, and are typically acquired over several years.  ...  Acknowledgements Authors would like thank our clinical collaborators for their significant help in optimizing and assessing the simulator, especially Aldo Rinaldi, John Whitaker, Henry Chubb from Guy's  ... 
doi:10.1016/ pmid:27471100 fatcat:x5q5ogfjzjeb7jvn7iyqei5yk4

3D Perception and Augmented Reality Developments in Underwater Robotics for Ocean Sciences

Matheus Laranjeira, Aurélien Arnaubec, Lorenzo Brignone, Claire Dune, Jan Opderbecke
2020 Current Robotics Reports  
Summary 3D perception derived from camera vision is shown to enable AR concepts that will significantly improve remote exploration and intervention in unknown natural environments.  ...  Cumulative geo-referenced 3D model building is in the process of being taken to reliable functioning in real-world underwater applications, accomplishing a milestone change in the capacity to view and  ...  The first one is the in-dive real-time 3D processing which provide a better understanding of the environment and assistance tools.  ... 
doi:10.1007/s43154-020-00014-5 fatcat:a4yuzq6q2vgx5blatwirkyaw2e
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